Agricultural field work vehicle

Abstract

There is provided an agricultural field work vehicle capable of entering a work travel path intended by the driver in transition from manual turn travel to autonomous work travel. An agricultural field work vehicle includes an autonomous travel control section configured to cause the agricultural field work vehicle to perform autonomous travel on the basis of work travel paths and the position of the agricultural field work vehicle, a manual travel control section configured to control manual travel of the agricultural field work vehicle along a turn travel path, a destination travel path singling-out section configured to single out a destination work travel path from among a group of candidates of destination work travel paths that the agricultural field work vehicle is able to enter from the turn travel path through which the agricultural field work vehicle is driven manually, a notification device configured to notify the driver of path notification information, which is information on the work travel paths, which include the destination work travel path singled out, and an autonomous travel start operation tool for use to instruct the agricultural field work vehicle to switch from controlling the manual travel to controlling the autonomous travel.

The invention claimed is: 
     
       1. An agricultural field work vehicle configured to perform autonomous travel along a plurality of work travel paths that are parallel to one another and that are connected to one another via a turn travel path, the agricultural field work vehicle comprising:
 a vehicle position detecting module including a satellite navigation unit and an inertial navigation unit; 
 at least one electronic control unit including:
 a vehicle position calculating section configured to calculate a position of the agricultural field work vehicle and an orientation of the agricultural field work vehicle based on positioning data transmitted from the vehicle position detecting module; 
 an autonomous travel control section connected to a travel device group including a group of devices related to travel and configured to cause the agricultural field work vehicle to perform the autonomous travel along the plurality of work travel paths on a basis of the plurality of work travel paths and the position of the agricultural field work vehicle; 
 a manual travel control section connected to the travel device group and configured to control manual travel of the agricultural field work vehicle along the turn travel path; 
 
 a data processing terminal including:
 a candidate path selecting section configured to select at least one of the work travel path as one or more candidates the agricultural field work vehicle is able to enter from the turn travel path; 
 a destination travel path singling-out section configured to single out a destination work travel path, which is a path targeted for a subsequent performance of the autonomous travel, from the work travel paths selected by the candidate path selecting section; 
 a display to display path notification information, which is information on the plurality of work travel paths, which include the destination work travel path singled out by the destination travel path singling-out section; and 
 
 an autonomous travel start operation tool for use to instruct the agricultural field work vehicle to switch from controlling the manual travel to controlling the autonomous travel. 
 
     
     
       2. The agricultural field work vehicle according to  claim 1 , wherein
 the path notification information includes information on a direction of entry of a vehicle body of the agricultural field work vehicle into the destination work travel path. 
 
     
     
       3. The agricultural field work vehicle according to  claim 2 , wherein:
 the display is configured to generate an entry direction reversing instruction for reversing the direction of the entry of which direction the display has displayed. 
 
     
     
       4. The agricultural field work vehicle according to  claim 3 , wherein
 the display and the user operation device are combined with each other in a form of a single touch screen. 
 
     
     
       5. The agricultural field work vehicle according to  claim 1 , wherein
 the destination work travel path singled out by the destination travel path singling-out section is changed to another work travel path among the one or more candidates in response to a user operation.